Visual Memory Construction for Autonomous Humanoid Robot Navigation

被引：2
|
作者：
Lopez-Martinez, A. [1 ]
Cuevas, F. J. [1 ]
Sosa-Balderas, J., V [1 ]
机构：
[1] Ctr Invest Opt AC, Opt Metrol, Leon 37150, Mexico
来源：
PROGRESS IN OPTOMECHATRONIC TECHNOLOGIES | 2019年 / 233卷
关键词：
D O I：
10.1007/978-981-32-9632-9_12
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
A visual memory (VM) is a topological map that represents an environment as a direct graph of key images. Thus, visual information acquired from cameras onboard the robot are the only data to construct the map. This work presents the construction of a VM suited for the humanoid robot navigation framework. Additionally, a genetic algorithm that estimates the epipolar geometry is proposed to tackle the problem of image matching used within the VM construction process. Experimental results using a humanoid robot dataset are presented to validate the efficacy of our approach. Further, the solution for image matching based on the proposed genetic algorithm was compared with RANSAC.
引用
收藏
页码：103 / 109
页数：7
相关论文
共 50 条
  • [1] Humanoid robot navigation: from a visual SLAM to a visual compass
    Wirbel, Emilie
    Steux, Bruno
    Bonnabel, Silvere
    de La Fortelle, Arnaud
    [J]. 2013 10TH IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC), 2013, : 678 - 683
  • [2] Humanoid Localization and Navigation using a Visual Memory
    Delfin, Josafat
    Becerra, Hector M.
    Arechavaleta, Gustavo
    [J]. 2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2016, : 725 - 731
  • [3] Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain
    Nishiwaki, Koichi
    Chestnutt, Joel
    Kagami, Satoshi
    [J]. ROBOTICS RESEARCH, ISRR, 2017, 100
  • [4] Humanoid navigation using a visual memory with obstacle avoidance
    Delfin, Josafat
    Becerra, Hector M.
    Arechavaleta, Gustavo
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2018, 109 : 109 - 124
  • [5] Autonomous Explorative Mobile Robot Navigation and Construction
    Kotzian, Jiri
    Konecny, Jaromir
    Prokop, Hynek
    Lippa, Tomas
    Kuruc, Marian
    [J]. 9TH ROEDUNET IEEE INTERNATIONAL CONFERENCE, 2010, : 49 - 54
  • [6] Visual planning for autonomous mobile robot navigation
    Marin-Hernandez, A
    Devy, M
    Ayala-Ramirez, V
    [J]. MICAI 2005: ADVANCES IN ARTIFICIAL INTELLIGENCE, 2005, 3789 : 1001 - 1011
  • [7] Visual landmarks recognition for autonomous robot navigation
    Cicerone, M
    Stella, E
    Caponetti, L
    Distante, A
    [J]. INTELLIGENT ROBOTS AND COMPUTER VISION XVI: ALGORITHMS, TECHNIQUES, ACTIVE VISION, AND MATERIALS HANDLING, 1997, 3208 : 133 - 139
  • [8] DEPTH MAP CONSTRUCTION WITH STEREO VISION for HUMANOID ROBOT NAVIGATION
    Vargas-Signoret, M. I.
    Rojas-Romero, M.
    Trejo-Avila, I.
    Velasco-Avella, J.
    Robles-Martinez, E. E.
    Santoyo-Mora, M.
    Camarillo-Gomez, K. A.
    Perez-Soto, G. I.
    Morales-Hernandez, A.
    [J]. 2016 XVIII CONGRESO MEXICANO DE ROBOTICA (COMROB 2016), 2016,
  • [9] Localisation for autonomous humanoid navigation
    Thompson, Simon
    Kagami, Satoshi
    Nishiwaki, Koichi
    [J]. 2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, 2006, : 13 - +
  • [10] Visual landmark extraction and recognition for autonomous robot navigation
    Trahanias, PE
    Velissaris, S
    Garavelos, T
    [J]. IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 1996, : 1036 - 1042
12345